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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> * Copyright (c) 2010-2011, NVIDIA Corporation</span>
<a name="l00003"></a>00003 <span class="comment"> * All rights reserved.</span>
<a name="l00004"></a>00004 <span class="comment"> *</span>
<a name="l00005"></a>00005 <span class="comment"> * Redistribution and use in source and binary forms, with or without</span>
<a name="l00006"></a>00006 <span class="comment"> * modification, are permitted provided that the following conditions are met:</span>
<a name="l00007"></a>00007 <span class="comment"> *   * Redistributions of source code must retain the above copyright</span>
<a name="l00008"></a>00008 <span class="comment"> *     notice, this list of conditions and the following disclaimer.</span>
<a name="l00009"></a>00009 <span class="comment"> *   * Redistributions in binary form must reproduce the above copyright</span>
<a name="l00010"></a>00010 <span class="comment"> *     notice, this list of conditions and the following disclaimer in the</span>
<a name="l00011"></a>00011 <span class="comment"> *     documentation and/or other materials provided with the distribution.</span>
<a name="l00012"></a>00012 <span class="comment"> *   * Neither the name of NVIDIA Corporation nor the</span>
<a name="l00013"></a>00013 <span class="comment"> *     names of its contributors may be used to endorse or promote products</span>
<a name="l00014"></a>00014 <span class="comment"> *     derived from this software without specific prior written permission.</span>
<a name="l00015"></a>00015 <span class="comment"> *</span>
<a name="l00016"></a>00016 <span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS IS&quot; AND</span>
<a name="l00017"></a>00017 <span class="comment"> * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span>
<a name="l00018"></a>00018 <span class="comment"> * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span>
<a name="l00019"></a>00019 <span class="comment"> * DISCLAIMED. IN NO EVENT SHALL &lt;COPYRIGHT HOLDER&gt; BE LIABLE FOR ANY</span>
<a name="l00020"></a>00020 <span class="comment"> * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span>
<a name="l00021"></a>00021 <span class="comment"> * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span>
<a name="l00022"></a>00022 <span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span>
<a name="l00023"></a>00023 <span class="comment"> * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span>
<a name="l00024"></a>00024 <span class="comment"> * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span>
<a name="l00025"></a>00025 <span class="comment"> * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00026"></a>00026 <span class="comment"> */</span>
<a name="l00027"></a>00027 
<a name="l00028"></a>00028 <span class="keyword">namespace </span>nih {
<a name="l00029"></a>00029 
<a name="l00030"></a>00030 <span class="keyword">template</span> &lt;u<span class="keywordtype">int</span>32 DIM&gt;
<a name="l00031"></a><a class="code" href="structnih_1_1_bvh__builder_1_1_bvh__partitioner.html">00031</a> <span class="keyword">struct </span><a class="code" href="classnih_1_1_bvh__builder.html">Bvh_builder</a>&lt;DIM&gt;::<a class="code" href="structnih_1_1_bvh__builder_1_1_bvh__partitioner.html">Bvh_partitioner</a>
<a name="l00032"></a>00032 {
<a name="l00033"></a>00033         <span class="comment">// constructor</span>
<a name="l00034"></a>00034         <a class="code" href="structnih_1_1_bvh__builder_1_1_bvh__partitioner.html">Bvh_partitioner</a>(<span class="keyword">const</span> uint32 split_dim, <span class="keyword">const</span> <span class="keywordtype">float</span> split_plane) :
<a name="l00035"></a>00035                 m_split_dim( split_dim ),
<a name="l00036"></a>00036                 m_split_plane( split_plane )
<a name="l00037"></a>00037         {}
<a name="l00038"></a>00038 
<a name="l00039"></a>00039         <span class="comment">// partitioner functor</span>
<a name="l00040"></a>00040         <span class="keywordtype">bool</span> operator()(
<a name="l00041"></a>00041                 <span class="keyword">const</span> <span class="keyword">typename</span> <a class="code" href="classnih_1_1_bvh__builder.html">Bvh_builder&lt;DIM&gt;::Point</a>&amp; v)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> v.center(m_split_dim) &lt; m_split_plane; }
<a name="l00042"></a>00042 
<a name="l00043"></a>00043         uint32 m_split_dim;
<a name="l00044"></a>00044         <span class="keywordtype">float</span>  m_split_plane;
<a name="l00045"></a>00045 };
<a name="l00046"></a>00046 
<a name="l00047"></a>00047 <span class="keyword">template</span> &lt;u<span class="keywordtype">int</span>32 DIM&gt;
<a name="l00048"></a>00048 uint32 <a class="code" href="group__vectors.html#ga22cda565844e9049dd1438a376c2e198" title="compute the largest dimension of a given vector">largest_dim</a>(<span class="keyword">const</span> <a class="code" href="structnih_1_1_vector.html">Vector&lt;float,DIM&gt;</a>&amp; v)
<a name="l00049"></a>00049 {
<a name="l00050"></a>00050         <span class="keywordflow">return</span> uint32( <a class="code" href="group__vectors.html#ga549a2d3c8b77b652dc1cd56c1d119b77">std::max_element</a>( &amp;v[0], &amp;v[0] + DIM ) - &amp;v[0] );
<a name="l00051"></a>00051 }
<a name="l00052"></a>00052 
<a name="l00053"></a>00053 <span class="keywordtype">void</span> build_skip_nodes(
<a name="l00054"></a>00054         <a class="code" href="structnih_1_1_bvh__node.html">Bvh_node</a>*               root,
<a name="l00055"></a>00055         <a class="code" href="structnih_1_1_bvh__node.html">Bvh_node</a>*               node,
<a name="l00056"></a>00056         <span class="keyword">const</span> uint32    skip_node);
<a name="l00057"></a>00057 
<a name="l00058"></a>00058 <span class="keyword">template</span> &lt;u<span class="keywordtype">int</span>32 DIM&gt;
<a name="l00059"></a>00059 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Iterator&gt;
<a name="l00060"></a><a class="code" href="classnih_1_1_bvh__builder.html#a7f5972c2af54b5e320b5db4f6f5f4a49">00060</a> <span class="keywordtype">void</span> <a class="code" href="classnih_1_1_bvh__builder.html#a7f5972c2af54b5e320b5db4f6f5f4a49">Bvh_builder&lt;DIM&gt;::build</a>(
<a name="l00061"></a>00061         <span class="keyword">const</span> Iterator  begin,
<a name="l00062"></a>00062         <span class="keyword">const</span> Iterator  end,
<a name="l00063"></a>00063         <a class="code" href="structnih_1_1_bvh.html">Bvh&lt;DIM&gt;</a>*               bvh)
<a name="l00064"></a>00064 {
<a name="l00065"></a>00065         m_points.resize( end - begin );
<a name="l00066"></a>00066         uint32 i = 0;
<a name="l00067"></a>00067         <span class="keywordflow">for</span> (Iterator it = begin; it != end; ++it)
<a name="l00068"></a>00068         {
<a name="l00069"></a>00069                 m_points[i].m_bbox  = *it;
<a name="l00070"></a>00070                 m_points[i].m_index = i;
<a name="l00071"></a>00071 
<a name="l00072"></a>00072                 i++;
<a name="l00073"></a>00073         }
<a name="l00074"></a>00074 
<a name="l00075"></a>00075         Node node;
<a name="l00076"></a>00076         node.m_begin = 0u;
<a name="l00077"></a>00077         node.m_end   = uint32(end - begin);
<a name="l00078"></a>00078         node.m_depth = 0u;
<a name="l00079"></a>00079         node.m_node  = 0u;
<a name="l00080"></a>00080 
<a name="l00081"></a>00081         Node_stack node_stack;
<a name="l00082"></a>00082         node_stack.push( node );
<a name="l00083"></a>00083 
<a name="l00084"></a>00084         <a class="code" href="structnih_1_1_bvh__node.html">Bvh_node</a> root;
<a name="l00085"></a>00085         root.<a class="code" href="structnih_1_1_bvh__node.html#ab09c9d3422fee1af8c59f71af6ecf64a">set_type</a>( Bvh_node::kLeaf );
<a name="l00086"></a>00086         root.<a class="code" href="structnih_1_1_bvh__node.html#a06c1cb6707abd1528279589bece1219b">set_index</a>( 0u );
<a name="l00087"></a>00087         bvh-&gt;m_nodes.push_back( root );
<a name="l00088"></a>00088         bvh-&gt;m_bboxes.resize( 1u );
<a name="l00089"></a>00089 
<a name="l00090"></a>00090         <span class="keywordflow">while</span> (node_stack.empty() == <span class="keyword">false</span>)
<a name="l00091"></a>00091         {
<a name="l00092"></a>00092                 <span class="keyword">const</span> Node node = node_stack.top();
<a name="l00093"></a>00093                 node_stack.pop();
<a name="l00094"></a>00094                 
<a name="l00095"></a>00095                 <span class="keyword">const</span> uint32 node_index = node.m_node;
<a name="l00096"></a>00096 
<a name="l00097"></a>00097                 <a class="code" href="structnih_1_1_bbox.html">Bbox_type</a> bbox;
<a name="l00098"></a>00098                 compute_bbox( node.m_begin, node.m_end, bbox );
<a name="l00099"></a>00099 
<a name="l00100"></a>00100                 bvh-&gt;m_bboxes[ node_index ] = bbox;
<a name="l00101"></a>00101 
<a name="l00102"></a>00102                 <span class="keywordflow">if</span> (node.m_end - node.m_begin &lt; m_max_leaf_size)
<a name="l00103"></a>00103                 {
<a name="l00104"></a>00104                         <span class="comment">//</span>
<a name="l00105"></a>00105                         <span class="comment">// Make a leaf node</span>
<a name="l00106"></a>00106                         <span class="comment">//</span>
<a name="l00107"></a>00107                         <a class="code" href="structnih_1_1_bvh__node.html">Bvh_node</a>&amp; bvh_node = bvh-&gt;m_nodes[ node_index ];
<a name="l00108"></a>00108 
<a name="l00109"></a>00109                         bvh_node.<a class="code" href="structnih_1_1_bvh__node.html#ab09c9d3422fee1af8c59f71af6ecf64a">set_type</a>( Bvh_node::kLeaf );
<a name="l00110"></a>00110                         bvh_node.<a class="code" href="structnih_1_1_bvh__node.html#a06c1cb6707abd1528279589bece1219b">set_index</a>( uint32( bvh-&gt;m_leaves.size() ) );
<a name="l00111"></a>00111                         bvh-&gt;m_leaves.push_back( <a class="code" href="structnih_1_1_bvh__leaf.html">Bvh_leaf</a>( node.m_end - node.m_begin, node.m_begin ) );
<a name="l00112"></a>00112                 }
<a name="l00113"></a>00113                 <span class="keywordflow">else</span>
<a name="l00114"></a>00114                 {
<a name="l00115"></a>00115                         <span class="comment">//</span>
<a name="l00116"></a>00116                         <span class="comment">// Make a split node</span>
<a name="l00117"></a>00117                         <span class="comment">//</span>
<a name="l00118"></a>00118 
<a name="l00119"></a>00119                         <span class="comment">// alloc space for children</span>
<a name="l00120"></a>00120                         <span class="keyword">const</span> uint32 left_node_index = uint32( bvh-&gt;m_nodes.size() );
<a name="l00121"></a>00121                         bvh-&gt;m_nodes.resize( left_node_index + 2 );
<a name="l00122"></a>00122                         bvh-&gt;m_bboxes.resize( left_node_index + 2 );
<a name="l00123"></a>00123 
<a name="l00124"></a>00124                         <a class="code" href="structnih_1_1_bvh__node.html">Bvh_node</a>&amp; bvh_node = bvh-&gt;m_nodes[ node_index ];
<a name="l00125"></a>00125                         bvh_node.<a class="code" href="structnih_1_1_bvh__node.html#ab09c9d3422fee1af8c59f71af6ecf64a">set_type</a>( Bvh_node::kInternal );
<a name="l00126"></a>00126                         bvh_node.<a class="code" href="structnih_1_1_bvh__node.html#a06c1cb6707abd1528279589bece1219b">set_index</a>( left_node_index );
<a name="l00127"></a>00127 
<a name="l00128"></a>00128                         <span class="comment">// find split plane</span>
<a name="l00129"></a>00129                         <span class="keyword">const</span> uint32 split_dim = <a class="code" href="group__vectors.html#ga22cda565844e9049dd1438a376c2e198" title="compute the largest dimension of a given vector">largest_dim</a>( bbox[1] - bbox[0] );
<a name="l00130"></a>00130                         <span class="keyword">const</span> <span class="keywordtype">float</span> split_plane = (bbox[1][split_dim] + bbox[0][split_dim]) * 0.5f;
<a name="l00131"></a>00131 
<a name="l00132"></a>00132                         <span class="comment">// partition the points</span>
<a name="l00133"></a>00133                         <a class="code" href="structnih_1_1_bvh__builder_1_1_bvh__partitioner.html">Bvh_partitioner</a> partitioner( split_dim, split_plane );
<a name="l00134"></a>00134                         uint32 middle = uint32(
<a name="l00135"></a>00135                                 std::partition( &amp;m_points[0] + node.m_begin, &amp;m_points[0] + node.m_end, partitioner ) -
<a name="l00136"></a>00136                                 &amp;m_points[0] );
<a name="l00137"></a>00137 
<a name="l00138"></a>00138                         <span class="comment">// unsuccessful split: split in two equally sized subsets</span>
<a name="l00139"></a>00139                         <span class="keywordflow">if</span> (middle == node.m_begin ||
<a name="l00140"></a>00140                                 middle == node.m_end)
<a name="l00141"></a>00141                                 middle = (node.m_begin + node.m_end) / 2;
<a name="l00142"></a>00142 
<a name="l00143"></a>00143                         <span class="comment">// push left and right children in processing queue</span>
<a name="l00144"></a>00144                         Node right_node;
<a name="l00145"></a>00145                         right_node.m_begin = middle;
<a name="l00146"></a>00146                         right_node.m_end   = node.m_end;
<a name="l00147"></a>00147                         right_node.m_depth = node.m_depth + 1u;
<a name="l00148"></a>00148                         right_node.m_node  = left_node_index + 1u;
<a name="l00149"></a>00149                         node_stack.push( right_node );
<a name="l00150"></a>00150 
<a name="l00151"></a>00151                         Node left_node;
<a name="l00152"></a>00152                         left_node.m_begin = node.m_begin;
<a name="l00153"></a>00153                         left_node.m_end   = middle;
<a name="l00154"></a>00154                         left_node.m_depth = node.m_depth + 1u;
<a name="l00155"></a>00155                         left_node.m_node  = left_node_index;
<a name="l00156"></a>00156                         node_stack.push( left_node );
<a name="l00157"></a>00157                 }
<a name="l00158"></a>00158         }
<a name="l00159"></a>00159 
<a name="l00160"></a>00160     build_skip_nodes( &amp;bvh-&gt;m_nodes[0], &amp;bvh-&gt;m_nodes[0], Bvh_node::kInvalid );
<a name="l00161"></a>00161 }
<a name="l00162"></a>00162 
<a name="l00163"></a>00163 <span class="keyword">inline</span> <span class="keywordtype">void</span> build_skip_nodes(
<a name="l00164"></a>00164         <a class="code" href="structnih_1_1_bvh__node.html">Bvh_node</a>*               root,
<a name="l00165"></a>00165         <a class="code" href="structnih_1_1_bvh__node.html">Bvh_node</a>*               node,
<a name="l00166"></a>00166         <span class="keyword">const</span> uint32    skip_node)
<a name="l00167"></a>00167 {
<a name="l00168"></a>00168         node-&gt;<a class="code" href="structnih_1_1_bvh__node.html#a43b2efd756d9247f3346514acb6b42ef">set_skip_node</a>( skip_node );
<a name="l00169"></a>00169 
<a name="l00170"></a>00170         <span class="keywordflow">if</span> (node-&gt;<a class="code" href="structnih_1_1_bvh__node.html#aa05acdb24d7dcaa05c312f2c438b3222">is_leaf</a>() == <span class="keyword">false</span>)
<a name="l00171"></a>00171         {
<a name="l00172"></a>00172                 <a class="code" href="structnih_1_1_bvh__node.html">Bvh_node</a>* l_node = root + node-&gt;<a class="code" href="structnih_1_1_bvh__node.html#a47f6279f9f1573509bd8432cbba838ba">get_index</a>();
<a name="l00173"></a>00173                 <a class="code" href="structnih_1_1_bvh__node.html">Bvh_node</a>* r_node = root + node-&gt;<a class="code" href="structnih_1_1_bvh__node.html#a47f6279f9f1573509bd8432cbba838ba">get_index</a>() + 1u;
<a name="l00174"></a>00174 
<a name="l00175"></a>00175                 build_skip_nodes( root, l_node, node-&gt;<a class="code" href="structnih_1_1_bvh__node.html#a47f6279f9f1573509bd8432cbba838ba">get_index</a>() + 1u );
<a name="l00176"></a>00176                 build_skip_nodes( root, r_node, skip_node );
<a name="l00177"></a>00177         }
<a name="l00178"></a>00178 }
<a name="l00179"></a>00179 
<a name="l00180"></a>00180 <span class="keyword">template</span> &lt;u<span class="keywordtype">int</span>32 DIM&gt;
<a name="l00181"></a>00181 <span class="keywordtype">void</span> Bvh_builder&lt;DIM&gt;::compute_bbox(
<a name="l00182"></a>00182         <span class="keyword">const</span> uint32            begin,
<a name="l00183"></a>00183         <span class="keyword">const</span> uint32            end,
<a name="l00184"></a>00184         Bbox_type&amp;                      bbox)
<a name="l00185"></a>00185 {
<a name="l00186"></a>00186         bbox.clear();
<a name="l00187"></a>00187         <span class="keywordflow">for</span> (uint32 i = begin; i &lt; end; i++)
<a name="l00188"></a>00188                 bbox.insert( m_points[i].m_bbox );
<a name="l00189"></a>00189 }
<a name="l00190"></a>00190 
<a name="l00191"></a><a class="code" href="structnih_1_1_bvh__node.html#a9e47e12cb0b74d5dab425d52728655dc">00191</a> <span class="keyword">inline</span> <a class="code" href="structnih_1_1_bvh__node.html#a9c5cc985a82d40aa2261f54f4dd6cb48">Bvh_node::Bvh_node</a>(<span class="keyword">const</span> Type type, <span class="keyword">const</span> uint32 index, <span class="keyword">const</span> uint32 skip_node)
<a name="l00192"></a>00192 {
<a name="l00193"></a>00193     m_packed_data = uint32( type ) | index;
<a name="l00194"></a>00194     m_skip_node   = skip_node;
<a name="l00195"></a>00195 }
<a name="l00196"></a>00196 
<a name="l00197"></a><a class="code" href="structnih_1_1_bvh__node.html#ab09c9d3422fee1af8c59f71af6ecf64a">00197</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structnih_1_1_bvh__node.html#ab09c9d3422fee1af8c59f71af6ecf64a">Bvh_node::set_type</a>(<span class="keyword">const</span> Type type)
<a name="l00198"></a>00198 {
<a name="l00199"></a>00199         m_packed_data &amp;= ~kLeaf;
<a name="l00200"></a>00200         m_packed_data |= uint32(type);
<a name="l00201"></a>00201 }
<a name="l00202"></a><a class="code" href="structnih_1_1_bvh__node.html#a06c1cb6707abd1528279589bece1219b">00202</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structnih_1_1_bvh__node.html#a06c1cb6707abd1528279589bece1219b">Bvh_node::set_index</a>(<span class="keyword">const</span> uint32 index)
<a name="l00203"></a>00203 {
<a name="l00204"></a>00204         m_packed_data &amp;= kLeaf;
<a name="l00205"></a>00205         m_packed_data |= index;
<a name="l00206"></a>00206 }
<a name="l00207"></a><a class="code" href="structnih_1_1_bvh__node.html#a43b2efd756d9247f3346514acb6b42ef">00207</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structnih_1_1_bvh__node.html#a43b2efd756d9247f3346514acb6b42ef">Bvh_node::set_skip_node</a>(<span class="keyword">const</span> uint32 index)
<a name="l00208"></a>00208 {
<a name="l00209"></a>00209         m_skip_node = index;
<a name="l00210"></a>00210 }
<a name="l00211"></a>00211 
<a name="l00212"></a>00212 <span class="comment">// compute SAH cost of a subtree</span>
<a name="l00213"></a>00213 <span class="keyword">inline</span> <span class="keywordtype">float</span> compute_sah_cost(<span class="keyword">const</span> <a class="code" href="structnih_1_1_bvh.html">Bvh&lt;3&gt;</a>&amp; bvh, uint32 node_index)
<a name="l00214"></a>00214 {
<a name="l00215"></a>00215     <span class="keyword">const</span> <a class="code" href="structnih_1_1_bvh__node.html">Bvh_node</a> node = bvh.m_nodes[ node_index ];
<a name="l00216"></a>00216 
<a name="l00217"></a>00217     <span class="keywordflow">if</span> (node.<a class="code" href="structnih_1_1_bvh__node.html#aa05acdb24d7dcaa05c312f2c438b3222">is_leaf</a>())
<a name="l00218"></a>00218     {
<a name="l00219"></a>00219         <span class="keyword">const</span> <a class="code" href="structnih_1_1_bvh__leaf.html">Bvh_leaf</a>&amp; leaf = bvh.m_leaves[ node.<a class="code" href="structnih_1_1_bvh__node.html#a47f6279f9f1573509bd8432cbba838ba">get_index</a>() ];
<a name="l00220"></a>00220         <span class="keywordflow">return</span> float( leaf.<a class="code" href="structnih_1_1_bvh__leaf.html#a4d533be98689fa2737e74596225724ce">get_size</a>() );
<a name="l00221"></a>00221     }
<a name="l00222"></a>00222     <span class="keywordflow">else</span>
<a name="l00223"></a>00223     {
<a name="l00224"></a>00224         <span class="keyword">const</span> <span class="keywordtype">float</span> cost1 = compute_sah_cost( bvh, node.<a class="code" href="structnih_1_1_bvh__node.html#a47f6279f9f1573509bd8432cbba838ba">get_index</a>() );
<a name="l00225"></a>00225         <span class="keyword">const</span> <span class="keywordtype">float</span> cost2 = compute_sah_cost( bvh, node.<a class="code" href="structnih_1_1_bvh__node.html#a47f6279f9f1573509bd8432cbba838ba">get_index</a>()+1u );
<a name="l00226"></a>00226 
<a name="l00227"></a>00227         <span class="keyword">const</span> Bbox3f bbox1 = bvh.m_bboxes[ node.<a class="code" href="structnih_1_1_bvh__node.html#a47f6279f9f1573509bd8432cbba838ba">get_index</a>()    ];
<a name="l00228"></a>00228         <span class="keyword">const</span> Bbox3f bbox2 = bvh.m_bboxes[ node.<a class="code" href="structnih_1_1_bvh__node.html#a47f6279f9f1573509bd8432cbba838ba">get_index</a>()+1u ];
<a name="l00229"></a>00229 
<a name="l00230"></a>00230         <span class="keyword">const</span> Bbox3f bbox = bvh.m_bboxes[ node_index ];
<a name="l00231"></a>00231 
<a name="l00232"></a>00232         <span class="keywordflow">return</span> 2.0f + (<a class="code" href="group__bboxes.html#gaceb0562c9b45c828b66c12f65bd85d8b">area</a>( bbox1 ) * cost1 + <a class="code" href="group__bboxes.html#gaceb0562c9b45c828b66c12f65bd85d8b">area</a>( bbox2 ) * cost2) / <a class="code" href="group__vectors.html#gab2b34b1991185fc29890973777b60e54">std::max</a>( <a class="code" href="group__bboxes.html#gaceb0562c9b45c828b66c12f65bd85d8b">area</a>( bbox ), 1.0e-6f );
<a name="l00233"></a>00233     }
<a name="l00234"></a>00234 }
<a name="l00235"></a>00235 
<a name="l00236"></a>00236 } <span class="comment">// namespace nih</span>
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